摘要
The adaptive robust output tracking for a class of nonlinear systems is considered. Based on the input-output linearization technique and the variable structure control strategy, an adaptive control law is developed so that no prior knowledge of the bounds on the plant uncertainties is required. It is shown that the outputs of the closed loop system asymptotically track the given output trajectories despite the uncertainties, and the tracking errors can be made arbitrarily small. The scheme is then applied to the control of a two degree-of-freedom (DOF) robotic manipulator with unknown payload.
原文 | English |
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頁(從 - 到) | 339-348 |
頁數 | 10 |
期刊 | Systems and Control Letters |
卷 | 15 |
發行號 | 4 |
DOIs | |
出版狀態 | Published - 1990 11月 |
All Science Journal Classification (ASJC) codes
- 控制與系統工程
- 電腦科學(全部)
- 機械工業
- 電氣與電子工程